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31 lines
1.1 KiB
C++
31 lines
1.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <gtest/gtest.h>
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#include "frc/kinematics/MecanumDriveKinematics.h"
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using namespace frc;
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namespace {
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using StructType = wpi::Struct<frc::MecanumDriveKinematics>;
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const MecanumDriveKinematics kExpectedData{MecanumDriveKinematics{
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Translation2d{19.1_m, 2.2_m}, Translation2d{35.04_m, 1.91_m},
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Translation2d{1.74_m, 3.504_m}, Translation2d{3.504_m, 1.91_m}}};
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} // namespace
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TEST(MecanumDriveKinematicsStructTest, Roundtrip) {
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uint8_t buffer[StructType::GetSize()];
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std::memset(buffer, 0, StructType::GetSize());
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StructType::Pack(buffer, kExpectedData);
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MecanumDriveKinematics unpacked_data = StructType::Unpack(buffer);
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EXPECT_EQ(kExpectedData.GetFrontLeft(), unpacked_data.GetFrontLeft());
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EXPECT_EQ(kExpectedData.GetFrontRight(), unpacked_data.GetFrontRight());
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EXPECT_EQ(kExpectedData.GetRearLeft(), unpacked_data.GetRearLeft());
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EXPECT_EQ(kExpectedData.GetRearRight(), unpacked_data.GetRearRight());
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}
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